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Commit9c5b5e4

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bdalg.connect: new tests that should pass, stylistic changes
1 parent85cc6ca commit9c5b5e4

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2 files changed

+58
-48
lines changed

2 files changed

+58
-48
lines changed

‎control/bdalg.py

Lines changed: 16 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -303,10 +303,10 @@ def connect(sys, Q, inputv, outputv):
303303
System to be connected
304304
Q : 2D array
305305
Interconnection matrix. First column gives the input to be connected.
306-
The second column gives the index of an output that is to be fed into
307-
that input. Each additional column gives the index of an additional
306+
The second column gives the index of an output that is to be fed into
307+
that input. Each additional column gives the index of an additional
308308
input that may be optionally added to that input. Negative
309-
values mean the feedback is negative. A zero value is ignored. Inputs
309+
values mean the feedback is negative. A zero value is ignored. Inputs
310310
and outputs are indexed starting at 1 to communicate sign information.
311311
inputv : 1D array
312312
list of final external inputs, indexed starting at 1
@@ -330,22 +330,22 @@ def connect(sys, Q, inputv, outputv):
330330
inputv,outputv,Q=np.asarray(inputv),np.asarray(outputv),np.asarray(Q)
331331
# check indices
332332
index_errors= (inputv-1>sys.inputs)| (inputv<1)
333-
ifnp.any(index_errors):
334-
raiseIndexError(
335-
"inputv index %s out of bounds"%inputv[np.where(index_errors)])
333+
ifnp.any(index_errors):
334+
raiseIndexError(
335+
"inputv index %s out of bounds"%inputv[np.where(index_errors)])
336336
index_errors= (outputv-1>sys.outputs)| (outputv<1)
337-
ifnp.any(index_errors):
338-
raiseIndexError(
339-
"outputv index %s out of bounds"%outputv[np.where(index_errors)])
337+
ifnp.any(index_errors):
338+
raiseIndexError(
339+
"outputv index %s out of bounds"%outputv[np.where(index_errors)])
340340
index_errors= (Q[:,0:1]-1>sys.inputs)| (Q[:,0:1]<1)
341-
ifnp.any(index_errors):
342-
raiseIndexError(
343-
"Q input index %s out of bounds"%Q[np.where(index_errors)])
341+
ifnp.any(index_errors):
342+
raiseIndexError(
343+
"Q input index %s out of bounds"%Q[np.where(index_errors)])
344344
index_errors= (np.abs(Q[:,1:])-1>sys.outputs)
345-
ifnp.any(index_errors):
346-
raiseIndexError(
347-
"Q output index %s out of bounds"%Q[np.where(index_errors)])
348-
345+
ifnp.any(index_errors):
346+
raiseIndexError(
347+
"Q output index %s out of bounds"%Q[np.where(index_errors)])
348+
349349
# first connect
350350
K=np.zeros((sys.inputs,sys.outputs))
351351
forrinnp.array(Q).astype(int):

‎control/tests/bdalg_test.py

Lines changed: 42 additions & 32 deletions
Original file line numberDiff line numberDiff line change
@@ -194,50 +194,50 @@ def testLists(self):
194194
sys1_2=ctrl.series(sys1,sys2)
195195
np.testing.assert_array_almost_equal(sort(pole(sys1_2)), [-4.,-2.])
196196
np.testing.assert_array_almost_equal(sort(zero(sys1_2)), [-3.,-1.])
197-
197+
198198
sys1_3=ctrl.series(sys1,sys2,sys3);
199199
np.testing.assert_array_almost_equal(sort(pole(sys1_3)),
200200
[-6.,-4.,-2.])
201-
np.testing.assert_array_almost_equal(sort(zero(sys1_3)),
201+
np.testing.assert_array_almost_equal(sort(zero(sys1_3)),
202202
[-5.,-3.,-1.])
203-
203+
204204
sys1_4=ctrl.series(sys1,sys2,sys3,sys4);
205205
np.testing.assert_array_almost_equal(sort(pole(sys1_4)),
206206
[-8.,-6.,-4.,-2.])
207207
np.testing.assert_array_almost_equal(sort(zero(sys1_4)),
208208
[-7.,-5.,-3.,-1.])
209-
209+
210210
sys1_5=ctrl.series(sys1,sys2,sys3,sys4,sys5);
211211
np.testing.assert_array_almost_equal(sort(pole(sys1_5)),
212212
[-8.,-6.,-4.,-2.,-0.])
213-
np.testing.assert_array_almost_equal(sort(zero(sys1_5)),
213+
np.testing.assert_array_almost_equal(sort(zero(sys1_5)),
214214
[-9.,-7.,-5.,-3.,-1.])
215215

216-
# Parallel
216+
# Parallel
217217
sys1_2=ctrl.parallel(sys1,sys2)
218218
np.testing.assert_array_almost_equal(sort(pole(sys1_2)), [-4.,-2.])
219219
np.testing.assert_array_almost_equal(sort(zero(sys1_2)),
220220
sort(zero(sys1+sys2)))
221-
221+
222222
sys1_3=ctrl.parallel(sys1,sys2,sys3);
223223
np.testing.assert_array_almost_equal(sort(pole(sys1_3)),
224224
[-6.,-4.,-2.])
225-
np.testing.assert_array_almost_equal(sort(zero(sys1_3)),
225+
np.testing.assert_array_almost_equal(sort(zero(sys1_3)),
226226
sort(zero(sys1+sys2+sys3)))
227-
227+
228228
sys1_4=ctrl.parallel(sys1,sys2,sys3,sys4);
229229
np.testing.assert_array_almost_equal(sort(pole(sys1_4)),
230230
[-8.,-6.,-4.,-2.])
231-
np.testing.assert_array_almost_equal(sort(zero(sys1_4)),
232-
sort(zero(sys1+sys2+
231+
np.testing.assert_array_almost_equal(sort(zero(sys1_4)),
232+
sort(zero(sys1+sys2+
233233
sys3+sys4)))
234234

235-
235+
236236
sys1_5=ctrl.parallel(sys1,sys2,sys3,sys4,sys5);
237237
np.testing.assert_array_almost_equal(sort(pole(sys1_5)),
238238
[-8.,-6.,-4.,-2.,-0.])
239-
np.testing.assert_array_almost_equal(sort(zero(sys1_5)),
240-
sort(zero(sys1+sys2+
239+
np.testing.assert_array_almost_equal(sort(zero(sys1_5)),
240+
sort(zero(sys1+sys2+
241241
sys3+sys4+sys5)))
242242
deftestMimoSeries(self):
243243
"""regression: bdalg.series reverses order of arguments"""
@@ -274,44 +274,54 @@ def test_feedback_args(self):
274274

275275
deftestConnect(self):
276276
sys=append(self.sys2,self.sys3)# two siso systems
277-
277+
278+
# should not raise error
279+
connect(sys, [[1,2], [2,-2]], [2], [1,2])
280+
connect(sys, [[1,2], [2,0]], [2], [1,2])
281+
connect(sys, [[1,2,0], [2,-2,1]], [2], [1,2])
282+
connect(sys, [[1,2], [2,-2]], [2,1], [1])
283+
sys3x3=append(sys,self.sys3)# 3x3 mimo
284+
connect(sys3x3, [[1,2,0], [2,-2,1], [3,-3,0]], [2], [1,2])
285+
connect(sys3x3, [[1,2,0], [2,-2,1], [3,-3,0]], [1,2,3], [3])
286+
connect(sys3x3, [[1,2,0], [2,-2,1], [3,-3,0]], [2,3], [2,1])
287+
278288
# feedback interconnection out of bounds: input too high
279-
Q= [[1,3], [2,-2]]
280-
withself.assertRaises(IndexError)ascontext:
289+
Q= [[1,3], [2,-2]]
290+
withself.assertRaises(IndexError):
281291
connect(sys,Q, [2], [1,2])
282292
# feedback interconnection out of bounds: input too low
283-
Q= [[0,2], [2,-2]]
284-
withself.assertRaises(IndexError)ascontext:
293+
Q= [[0,2], [2,-2]]
294+
withself.assertRaises(IndexError):
285295
connect(sys,Q, [2], [1,2])
286296

287297
# feedback interconnection out of bounds: output too high
288-
Q= [[1,2], [2,-3]]
289-
withself.assertRaises(IndexError)ascontext:
298+
Q= [[1,2], [2,-3]]
299+
withself.assertRaises(IndexError):
290300
connect(sys,Q, [2], [1,2])
291-
Q= [[1,2], [2,4]]
292-
withself.assertRaises(IndexError)ascontext:
301+
Q= [[1,2], [2,4]]
302+
withself.assertRaises(IndexError):
293303
connect(sys,Q, [2], [1,2])
294-
304+
295305
# input/output index testing
296306
Q= [[1,2], [2,-2]]# OK interconnection
297-
307+
298308
# input index is out of bounds: too high
299-
withself.assertRaises(IndexError)ascontext:
309+
withself.assertRaises(IndexError):
300310
connect(sys,Q, [3], [1,2])
301311
# input index is out of bounds: too low
302-
withself.assertRaises(IndexError)ascontext:
312+
withself.assertRaises(IndexError):
303313
connect(sys,Q, [0], [1,2])
304-
withself.assertRaises(IndexError)ascontext:
314+
withself.assertRaises(IndexError):
305315
connect(sys,Q, [-2], [1,2])
306316
# output index is out of bounds: too high
307-
withself.assertRaises(IndexError)ascontext:
317+
withself.assertRaises(IndexError):
308318
connect(sys,Q, [2], [1,3])
309319
# output index is out of bounds: too low
310-
withself.assertRaises(IndexError)ascontext:
320+
withself.assertRaises(IndexError):
311321
connect(sys,Q, [2], [1,0])
312-
withself.assertRaises(IndexError)ascontext:
322+
withself.assertRaises(IndexError):
313323
connect(sys,Q, [2], [1,-1])
314-
324+
315325

316326
if__name__=="__main__":
317327
unittest.main()

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